CN205825966U - A kind of inertia north finding device without indexing mechanism - Google Patents

A kind of inertia north finding device without indexing mechanism Download PDF

Info

Publication number
CN205825966U
CN205825966U CN201620577441.2U CN201620577441U CN205825966U CN 205825966 U CN205825966 U CN 205825966U CN 201620577441 U CN201620577441 U CN 201620577441U CN 205825966 U CN205825966 U CN 205825966U
Authority
CN
China
Prior art keywords
plate
shell
signal
processing board
indexing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201620577441.2U
Other languages
Chinese (zh)
Inventor
周全
席梅丽
唐李
潘大夫
蔡鹏鹏
曹公仆
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
HEFEI ZHENGYANG PHOTOELECTRIC TECHNOLOGY CO LTD
Original Assignee
HEFEI ZHENGYANG PHOTOELECTRIC TECHNOLOGY CO LTD
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by HEFEI ZHENGYANG PHOTOELECTRIC TECHNOLOGY CO LTD filed Critical HEFEI ZHENGYANG PHOTOELECTRIC TECHNOLOGY CO LTD
Priority to CN201620577441.2U priority Critical patent/CN205825966U/en
Application granted granted Critical
Publication of CN205825966U publication Critical patent/CN205825966U/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The utility model discloses a kind of inertia north finding device without indexing mechanism, include shell, two accelerometers being arranged in a mutually vertical manner being arranged in shell, gyroscope, lithium battery and signal-processing board with temperature sensor;Being provided with the installing hole of display input device on shell, signal-processing board is connected with the display input device in installing hole;Gyroscope, temperature sensor, two accelerometers, lithium batteries are all connected with signal-processing board;Being provided with rectangular cam on adjacent two sidewalls of shell bottom plate, the perpendicular of the rectangular cam on two sidewalls is respectively defined as datum level A and datum level B.This utility model reduces overall volume and the weight of inertia north finding device, and this north finding device built-in power module and display module, independently operable, without externally fed and supplemental communication, not by magnetic interference, there is portable and easy-operating feature, thus expanded the application seeking north equipment.

Description

A kind of inertia north finding device without indexing mechanism
Technical field
This utility model relates to inertial navigation set field, a kind of inertia north finding device without indexing mechanism.
Background technology
Inertia north finding device is that one utilizes gyro and accelerometer measures rotational-angular velocity of the earth and acceleration of gravity, solves Calculating the equipment of carrier heading and attitude angle, certainty of measurement is high, is unaffected by the magnetic field.North finding device generally uses two positions side Method or four location methods realize seeking north resolving, gyroscope 1 and accelerometer 2 are arranged on indexing locking mechanism 3, by indexing Retaining mechanism 3 drives measurement rotational-angular velocity of the earth and gravity in two 180 ° of symmetric positions or four 90 ° of symmetric positions to add The horizontal component of speed, by gyroscope 1 and accelerometer 2, the data in 180 ° of symmetric positions subtract each other elimination respective zero Partially, then signal-processing board 4 calculates carrier heading and attitude angle by trigonometric function relation.Its basic structure such as Fig. 1 institute Show.Wherein, indexing locking mechanism realizes it by structures such as motor, electromagnetic valve, locking pin and locking plates and rotates and locking, causes The volume and weight of north finding device is relatively big, and general only use on vehicle arrangement, Portable belt and transport, do not limit north finding device Application in other fields of measurement.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of inertia north finding device without indexing mechanism, reduces inertia The overall volume of north finding device and weight, and this north finding device built-in power module and display module, independently operable, it is not necessary to Externally fed and supplemental communication, not by magnetic interference, have portable and easy-operating feature, thus expanded and sought answering of north equipment Use field.
The technical solution of the utility model is:
A kind of inertia north finding device without indexing mechanism, includes shell, and two be arranged in shell are mutually perpendicular to set The accelerometer put, gyroscope, lithium battery and signal-processing board with temperature sensor;It is provided with display on described shell The installing hole of input equipment, described signal-processing board is connected with the display input device in installing hole;Described gyroscope, temperature Degree sensor, two accelerometers, lithium batteries are all connected with signal-processing board;Described shell include base plate, upper cover plate and Four side plates, on adjacent two sidewalls of base plate and be positioned at both ends and be provided with outward extending rectangular cam, four rectangles Plane on the basis of the perpendicular of projection, wherein on a sidewall of the bottom plate, the perpendicular of two rectangular cam is defined as datum level A, separately On one sidewall of the bottom plate, the perpendicular of two rectangular cam is defined as datum level B, and it is right that the bottom of adjacent two side plates of shell is plugged in Answer between two rectangular cam of sidewall of the bottom plate.
Being provided with dividing plate on described base plate, the described gyroscope with temperature sensor is fixed on base plate and is positioned at One sidepiece of dividing plate, the other side that described base plate is positioned at dividing plate is provided with accelerometer installing rack, and accelerometer is installed Erection is equipped with hole, two location, and the axis in hole, two location is mutually perpendicular to, and two described accelerometers are respectively arranged in correspondence Hole, location in.
The installing hole of display input device it is provided with, on the lower surface of described upper cover plate and be positioned on described upper cover plate The lower section of installing hole is provided with described signal-processing board.
Described lithium battery is fixedly installed on the inwall of wherein side plate.
Advantage of the present utility model:
This utility model is without indexing locking mechanism, thus reduces overall volume and the weight of inertia north finding device, it is simple to Carry and transport;Gyroscope and accelerometer are the core parts of whole inertia north finding device, and its precision directly affects whole system The precision of system, environmental condition and working condition that the precision of inertia device is residing with during its precision of test are relevant, and variations in temperature Being one of principal element limiting the raising of its precision, therefore this utility model arranges temperature sensor, uses temperature compensation algorithm Compensate gyroscope and the zero drift of accelerometer, reduce course angle and attitude angle error that zero drift causes;This reality With novel lithium battery and the signal-processing board of being provided with, independently operable, it is not necessary to externally fed and supplemental communication, do not done by magnetic field Disturb;This utility model uses unit to put and combines the scheme of human assistance and measure, and first one datum level abuts against base to be measured On quasi-face, measure and carry out rough north-seeking after starting, it is judged that substantially quadrant, if angle is near North and South direction, be then manually turned to another Datum level proceeds essence and seeks north and record course angle and attitude angle, if angle is near east-west direction, then proceeds essence and seeks north, so After rotate to another datum level and determine quadrant, record course angle and attitude angle, whole measurement is simple to operate, and measurement result is accurate Really.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of former inertia north finding device.
Fig. 2 is explosive view of the present utility model.
Fig. 3 is the assembled inside structure chart in this utility model housing.
Detailed description of the invention
See Fig. 2 and Fig. 3, a kind of inertia north finding device without indexing mechanism, include shell, two be arranged in shell Accelerometer 9, gyroscope 10, lithium battery 11 and signal-processing board 12 with temperature sensor;Shell include base plate 1, on Cover plate 2 and four side plates 3,4,5,6, base plate 1 is provided with dividing plate 5, the gyroscope with temperature sensor is fixed on base plate 1 And it being positioned at a sidepiece of dividing plate 7, the other side that base plate 1 is positioned at dividing plate 7 is provided with accelerometer installing rack 8, accelerometer Installing rack 8 is provided with hole 14, two location, and the axis in hole 14, two location is mutually perpendicular to, and two accelerometers 9 are respectively arranged in In corresponding hole, location 14;The installing hole 13 of display input device it is provided with, on the lower surface of upper cover plate 2 and position on upper cover plate 2 Be provided with signal-processing board 12 in the lower section of installing hole 13, signal-processing board 12 is with the display input device in installing hole 13 even Connect;Lithium battery 11 is fixedly installed on the inwall of wherein side plate 4;Gyroscope 10, temperature sensor, two accelerometers 9, lithiums Battery 11 is all connected with signal-processing board 12;On adjacent two sidewalls of base plate 1 and be positioned at both ends and be provided with and stretch out Rectangular cam 15, plane on the basis of the perpendicular of four rectangular cam 15, wherein two rectangular cam 15 on base plate 1 sidewall Perpendicular be defined as datum level A, on another sidewall of the bottom plate, the perpendicular of two rectangular cam 15 is defined as datum level B, outward The bottom of adjacent two side plates 3,6 of shell is plugged between two rectangular cam 15 of corresponding sidewall of the bottom plate.
The function of signal-processing board 12 is that lithium battery 11 is carried out voltage conversion and Charge Management, be responsible for gyroscope 10, The output data of temperature sensor and two accelerometers 9 are acquired and resolve, then by during measurement result, measurement Status information and battery level information are sent to display input device and show, simultaneously display input device can arrange latitude information and Measurement of correlation parameter.
Inertia north finding device list position measurement is to measure dividing of current location terrestrial gravitation acceleration by accelerometer 9 Amount, calculates attitude angle;Measured the component of current location rotational-angular velocity of the earth by gyroscope 10, go out in conjunction with solving of attitude The horizontal component of rotational-angular velocity of the earth, the north orientation calculating current location rotational-angular velocity of the earth according to known latitude information divides Amount, calculates course angle by the inverse cosine function of horizontal component and north component.
Owing to the course angle of single location measurement method is to resolve gained by inverse cosine function, thus there are two problems: 1, direction is measured the biggest closer to North and South direction resolution error, minimum in east-west direction resolution error, therefore specify east-west direction Being to measure valid interval in the range of ± 45 °, gyro to measure axle guarantee certainty of measurement must meet in measuring valid interval Requirement;2, inverse cosine function resolve result in the range of 0 °~180 °, it is impossible to determine course angle be 0 °~180 ° by east as Limit or the quadrant to the west of 180 °~360 °.
For solving two above problem, this utility model have employed unit and puts and combine the scheme of human assistance and measure, Concrete measuring process is as follows:
1, being placed steadily by north finding device before measuring startup, datum level A abuts against on datum level to be measured;
2, first carry out 10 seconds rough north-seekings after measuring startup, resolve course angle and judge substantially quadrant, if angle is at 0 °~45 ° Or (near North and South direction) in the range of 135 °~180 °, then on the display input device being connected with signal-processing board 12, show base Quasi-face transitional information, remind operator's manual rotation north finding device, make datum level B abut against on datum level to be measured, continue into 100 seconds essences of row seek north, and essence is sought and shown gained course angle on the display input device being connected with signal-processing board 12 after north is terminated And attitude angle;
If angle (near east-west direction), then proceeds 100 seconds essences and seeks north in the range of 45 °~135 °, essence seeks north knot On the display input device being connected with signal-processing board 12, datum level transitional information is shown, by operator's manual rotation after bundle North finding device, makes datum level B abut against on datum level to be measured, proceeds 10 seconds coarse alignments, utilize coarse alignment result judge as Limit, thus calculates course angle, finally show on the display input device being connected with signal-processing board 12 gained course angle and Attitude angle.
Owing to device does not has indexing mechanism, it is impossible to eliminate gyro and the zero of accelerometer by two positions or four location methods Partially, therefore this utility model arranges temperature sensor, uses temperature compensation algorithm to compensate gyro and the zero drift of accelerometer, Reduce course angle and attitude angle error that zero drift causes.Further, since installation weight is light and does not fasten during test, Easily by external environment vibration effect, therefore signal-processing board 12 uses filtering algorithm to reduce the shadow that extraneous vibration noise brings Ring.

Claims (4)

1. the inertia north finding device without indexing mechanism, it is characterised in that: include shell, two phases being arranged in shell Mutual vertically disposed accelerometer, gyroscope, lithium battery and signal-processing board with temperature sensor;Set on described shell Being equipped with the installing hole of display input device, described signal-processing board is connected with the display input device in installing hole;Described Gyroscope, temperature sensor, two accelerometers, lithium batteries are all connected with signal-processing board;Described shell include base plate, Upper cover plate and four side plates, on adjacent two sidewalls of base plate and be positioned at both ends and be provided with outward extending rectangular cam, Plane on the basis of the perpendicular of four rectangular cam, wherein on a sidewall of the bottom plate, the perpendicular of two rectangular cam is defined as base Quasi-face A, on another sidewall of the bottom plate, the perpendicular of two rectangular cam is defined as datum level B, the bottom of adjacent two side plates of shell It is plugged between two rectangular cam of corresponding sidewall of the bottom plate.
A kind of inertia north finding device without indexing mechanism the most according to claim 1, it is characterised in that: on described base plate Being provided with dividing plate, the described gyroscope with temperature sensor is fixed on base plate and is positioned at a sidepiece of dividing plate, described The other side being positioned at dividing plate on base plate is provided with accelerometer installing rack, and accelerometer installing rack is provided with hole, two location, The axis in hole, two location is mutually perpendicular to, and two described accelerometers are respectively arranged in the hole, location of correspondence.
A kind of inertia north finding device without indexing mechanism the most according to claim 1, it is characterised in that: described upper cover plate On be provided with the installing hole of display input device, on the lower surface of described upper cover plate and be positioned at the lower section of installing hole and arranged The signal-processing board stated.
A kind of inertia north finding device without indexing mechanism the most according to claim 1, it is characterised in that: described lithium battery It is fixedly installed on the inwall of wherein side plate.
CN201620577441.2U 2016-06-15 2016-06-15 A kind of inertia north finding device without indexing mechanism Active CN205825966U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201620577441.2U CN205825966U (en) 2016-06-15 2016-06-15 A kind of inertia north finding device without indexing mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201620577441.2U CN205825966U (en) 2016-06-15 2016-06-15 A kind of inertia north finding device without indexing mechanism

Publications (1)

Publication Number Publication Date
CN205825966U true CN205825966U (en) 2016-12-21

Family

ID=57568636

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201620577441.2U Active CN205825966U (en) 2016-06-15 2016-06-15 A kind of inertia north finding device without indexing mechanism

Country Status (1)

Country Link
CN (1) CN205825966U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109084761A (en) * 2018-08-07 2018-12-25 合肥正阳光电科技有限责任公司 Northern calculation method is sought in a kind of shock resistance based on inertia north finding device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109084761A (en) * 2018-08-07 2018-12-25 合肥正阳光电科技有限责任公司 Northern calculation method is sought in a kind of shock resistance based on inertia north finding device
CN109084761B (en) * 2018-08-07 2021-09-10 合肥正阳光电科技有限责任公司 Impact-resistant north-seeking calculation method based on inertial north-seeking device

Similar Documents

Publication Publication Date Title
US10337884B2 (en) Method and apparatus for fast magnetometer calibration
CN102980577A (en) Micro-strapdown altitude heading reference system and working method thereof
CN103575299B (en) Utilize dual-axis rotation inertial navigation system alignment and the error correcting method of External Observation information
CN103090870B (en) Spacecraft attitude measurement method based on MEMS (micro-electromechanical systems) sensor
CN202974288U (en) Miniature strapdown navigation attitude system
CN105910624B (en) A kind of scaling method of used group of optical laying prism installation error
CN201159646Y (en) Strap-down multi-position gyrostatic compass
CN106052682B (en) A kind of hybrid inertial navigation system and air navigation aid
CN101290229A (en) Silicon micro-navigation attitude system inertia/geomagnetism assembled method
CN104848859A (en) Three-axis inertial stabilization platform and self-positioning and orientation control method thereof
WO2016198009A1 (en) Heading checking method and apparatus
US20160305782A1 (en) System and method for estimating heading misalignment
CN109470241B (en) Inertial navigation system with gravity disturbance autonomous compensation function and method
CN104374388A (en) Flight attitude determining method based on polarized light sensor
CN103743378A (en) Gesture detection system of pipeline detector
CN103604431A (en) Strapdown compass system based on triaxial integrated high-precision optic fiber gyroscope
CN102087110A (en) Miniature underwater moving vehicle autonomous attitude detecting device and method
CN109407159A (en) A kind of earth magnetism total factor sensor attitude error calibration method
Suprem et al. Orientation and displacement detection for smartphone device based IMUs
CN110017837A (en) A kind of Combinated navigation method of the diamagnetic interference of posture
CN105841698A (en) AUV rudder angle precise real-time measurement system without zero setting
CN205825966U (en) A kind of inertia north finding device without indexing mechanism
CN110017812B (en) Measuring device and method for vertical line deviation, gravitational acceleration and gravity gradient
CN109459008B (en) Small-sized medium-high precision fiber optic gyroscope north seeking device and method
CN103175528A (en) Strap-down compass gesture measurement method based on strap-down inertial navigation system

Legal Events

Date Code Title Description
GR01 Patent grant
C14 Grant of patent or utility model